{"id":"https://openalex.org/W2076409124","doi":"https://doi.org/10.1109/icra.2011.5980133","title":"Geometric interpretation of the Zero-Moment Point","display_name":"Geometric interpretation of the Zero-Moment Point","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2076409124","doi":"https://doi.org/10.1109/icra.2011.5980133","mag":"2076409124"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980133","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ris.utwente.nl/ws/files/5445697/Geometric_interpretation_of_the_zero_moment_point.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007818081","display_name":"Gijs van Oort","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Gijs van Oort","raw_affiliation_strings":["Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, Netherlands","Department of Electrical Engineering Faculty of Electrical Engineering, Mathematics and Computer Science University of Twente, 7500 AE Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Department of Electrical Engineering Faculty of Electrical Engineering, Mathematics and Computer Science University of Twente, 7500 AE Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Stefano Stramigioli","raw_affiliation_strings":["Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, Netherlands","Department of Electrical Engineering Faculty of Electrical Engineering, Mathematics and Computer Science University of Twente, 7500 AE Enschede, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Department of Electrical Engineering Faculty of Electrical Engineering, Mathematics and Computer Science University of Twente, 7500 AE Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2157,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59217999,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"575","last_page":"580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.9808564186096191},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.792695164680481},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.682223379611969},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.6765937805175781},{"id":"https://openalex.org/keywords/interpretation","display_name":"Interpretation (philosophy)","score":0.6437600255012512},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5989397764205933},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.5271945595741272},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4449053108692169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43598783016204834},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.33900633454322815},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2050587236881256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19659006595611572},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19420838356018066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18985280394554138},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12992697954177856},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.06590482592582703}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.9808564186096191},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.792695164680481},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.682223379611969},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.6765937805175781},{"id":"https://openalex.org/C527412718","wikidata":"https://www.wikidata.org/wiki/Q855395","display_name":"Interpretation (philosophy)","level":2,"score":0.6437600255012512},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5989397764205933},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.5271945595741272},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4449053108692169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43598783016204834},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.33900633454322815},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2050587236881256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19659006595611572},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19420838356018066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18985280394554138},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12992697954177856},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.06590482592582703},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5980133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980133","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:publications/c8387ea6-5356-4029-baf5-3c31b191f959","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/c8387ea6-5356-4029-baf5-3c31b191f959","pdf_url":"https://ris.utwente.nl/ws/files/5445697/Geometric_interpretation_of_the_zero_moment_point.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"van Oort, G & Stramigioli, S 2011, Geometric interpretation of the Zero-Moment Point. in Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011. IEEE, USA, pp. 575-580, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5980133","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:ris.utwente.nl:publications/c8387ea6-5356-4029-baf5-3c31b191f959","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/c8387ea6-5356-4029-baf5-3c31b191f959","pdf_url":"https://ris.utwente.nl/ws/files/5445697/Geometric_interpretation_of_the_zero_moment_point.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"van Oort, G & Stramigioli, S 2011, Geometric interpretation of the Zero-Moment Point. in Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011. IEEE, USA, pp. 575-580, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9/05/11. https://doi.org/10.1109/ICRA.2011.5980133","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2076409124.pdf","grobid_xml":"https://content.openalex.org/works/W2076409124.grobid-xml"},"referenced_works_count":15,"referenced_works":["https://openalex.org/W3584668","https://openalex.org/W618254468","https://openalex.org/W1485633210","https://openalex.org/W1525008876","https://openalex.org/W1564897360","https://openalex.org/W2021512411","https://openalex.org/W2037729465","https://openalex.org/W2051287096","https://openalex.org/W2095829696","https://openalex.org/W2127763473","https://openalex.org/W2150387201","https://openalex.org/W2170918662","https://openalex.org/W2491751157","https://openalex.org/W3217246742","https://openalex.org/W6633694296"],"related_works":["https://openalex.org/W3114548899","https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W4245224694","https://openalex.org/W813487984","https://openalex.org/W2021225188","https://openalex.org/W3012534254","https://openalex.org/W2258773704","https://openalex.org/W2560160706","https://openalex.org/W1525008876"],"abstract_inverted_index":{"In":[0,29],"this":[1],"article":[2],"we":[3,35],"show":[4,36],"that":[5],"the":[6,18,21,26,57,63],"concept":[7],"of":[8],"screws":[9],"and":[10,25,59],"wrenches":[11],"gives":[12,49],"us":[13],"tools":[14],"to":[15,31,55],"geometrically":[16],"establish":[17],"relation":[19],"between":[20],"ground":[22],"reaction":[23],"wrench":[24,39],"Zero-Moment":[27],"Point.":[28],"order":[30],"arrive":[32],"at":[33],"this,":[34],"how":[37],"a":[38,50],"can":[40],"be":[41],"decomposed":[42],"into":[43],"separate":[44],"components.":[45],"The":[46],"proposed":[47],"method":[48],"general,":[51],"completely":[52],"coordinate-free":[53],"way":[54],"find":[56],"ZMP":[58],"contributes":[60],"in":[61],"improving":[62],"geometrical":[64],"insight.":[65]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}